Volume dimensioning system and method employing time-of-flight camera

ABSTRACT

Volume dimensioning employs techniques to reduce multipath reflection or return of illumination, and hence distortion. Volume dimensioning for any given target object includes a sequence of one or more illuminations and respective detections of returned illumination. A sequence typically includes illumination with at least one initial spatial illumination pattern and with one or more refined spatial illumination patterns. Refined spatial illumination patterns are generated based on previous illumination in order to reduce distortion. The number of refined spatial illumination patterns in a sequence may be fixed, or may vary based on results of prior illumination(s) in the sequence. Refined spatial illumination patterns may avoid illuminating background areas that contribute to distortion. Sometimes, illumination with the initial spatial illumination pattern may produce sufficiently acceptable results, and refined spatial illumination patterns in the sequence omitted.

BACKGROUND OF THE INVENTION

1. Field

This disclosure generally relates to the field of automatic datacollection (ADC) and particularly to volume dimensioning, for exampleuseful in automatically dimensioning of target objects such as packagesor parcels intended for shipment.

2. Description of the Related Art

Volume dimensioning systems are useful for providing dimensional and/orvolumetric information related to three-dimensional objects. The objectsmay, for example take the form of parcels or packages intended fortransit via a carrier (e.g., courier) or other items intended fortransit. Dimensional and/or volumetric information is useful forexample, in providing users with accurate shipping rates based on theactual size and volume of the object being shipped. Dimensional and/orvolumetric information may be used by the carrier in selecting andscheduling appropriately sized vehicles and/or delivery routes. Theready availability of dimensional and/or volumetric information for allobjects within a carrier's network assists the carrier in ensuringoptimal use of available space in the many different vehicles andcontainers used in local, interstate, and international shipping.

Such may be of particular significant in today's economy where manybusinesses rely on “just in time” manufacturing. Typically, everysupplier in the supply chain must be able to ship necessary componentsor resources on demand or with very little lead time. Thus, efficienthandling of cargo is required. It does a supplier no good to have thedesired goods on hand, if the supplier cannot readily ship the desiredgoods.

Automating volume dimensioning can speed parcel intake, improve theoverall level of billing accuracy, and increase the efficiency of cargohandling. Unfortunately, parcels are not confined to a standard size orshape, and may, in fact, have virtually any size or shape. Additionally,parcels may also have specialized shipping and/or handling instructions(e.g., fragile, this side up) that must be followed during shipping orhandling to protect the objects during shipping.

There exists a need for new dimensioning systems that may accuratelyperform volume dimensioning of objects including parcels and packages aswell as other objects.

BRIEF SUMMARY

Applicants have attempted to employ time-of-flight (TOF) camera systemsin volume dimensioning applications. TOF camera systems typically use atwo-dimensional array of optical or photosensors (i.e., optical sensor)which are operable to sample the entire two-dimensional arrayconcurrently or substantially simultaneously. TOF camera systemstypically employ one or more illumination sources which concurrently orsubstantially simultaneously illuminate an entire field of view of theoptical sensor with modulated illumination (e.g., light). Theillumination sources provide modulated illumination, allowing activeillumination by the illumination sources to be discerned from backgroundillumination. TOF camera systems typically determine depth of an object,or portion thereof, based on the time which passes between emitting theillumination and detecting return of the illumination. In an idealsituation, a ray of light is emitted, travels to the target object, isreflected, and detected by the optical sensor. The distance between theTOF camera system and the target object is determined as a function ofthis transit time, the transit time being twice the distance between theTOF camera system and the target object.

TOF camera systems have a number of advantages over other, orconventional approaches. For example, TOF camera systems omit the needfor a second discrete optical sensor since such do not rely on parallaxfor assessing depth. TOF camera systems may provide to be most costeffective and require less space than more conventional approaches.

However, Applicants have identified an inherent problem with the use ofTOF camera systems in volume dimensioning applications. In particular,Applicants have identified a source of distortion which hinders theability to accurately perform volume dimensioning. Applicants havedetermined that multiple reflections (i.e., multipath reflection) maygive rise to distortions. In particular, illumination from anillumination source associated with the TOF camera system may firstreflect from one or more surfaces adjacent or proximate a target objectbefore then reflecting from the target object. The light may thenreflect from the target object and be detected by a sensor associatedwith the TOF camera system. This multipath reflection phenomenonintroduces background dependent distortion. Since TOF camera systemsoften rely on phase shift to determine distance from the TOF camerasystem, the multipath reflections tend to cause overestimation of depth.

Such is particularly a problem in uncontrolled environments in which thebackground is not known or defined before use, and may even changeduring use or after installation or introduction of the dimensioningsystem in the environment. For example, fixed dimensioning system may besold for installation in a variety environments where the distance towalls or other sources of reflection and/or the color of those sourcesof reflection are not known prior to installation. Also for example, afixed dimensioning system may be installed and the environment maychange from time to time, for instance where parcels or other objects inthe background are moved from time to time. As a further example, ahandheld or portable dimensioning system may move relative to a fixedbackground environment. Thus, in many situations sources of multipathreflections may not be known prior to installation or use, or may changeduring use.

Applicants describe herein systems and methods which accommodateillumination to reduce the multipath reflection, and hence distortion.Those systems and methods may adjust illumination to account formultipath reflections, reducing the effect of multipath reflections whenperforming volume dimensioning. Those systems and methods may employsequences of one or more illuminations and respective detections ofreturned illumination. In most instances, a sequence includesillumination with at least one initial spatial illumination pattern andwith one or more refined spatial illumination patterns. The number ofrefined spatial illumination patterns in a sequence may be fixed or set,or may vary for instance based on the results of prior illumination(s)in the sequence. In some instances, illumination with the initialspatial illumination pattern may produce sufficiently acceptableresults, and hence the sequence may omit illumination with any refinedspatial illumination patterns. Thus, the method 1100 may include anadditional determination, occurring between determination of theapproximate boundary at 1106 and determination of the first refinedspatial illumination pattern at 1108. This additional determination mayassess the quality of the image data, avoiding illumination usingrefined spatial illumination patterns in those instances whereillumination with the initial spatial illumination pattern producedacceptable results.

A dimensioning system operable to dimension a target object, may besummarized as including an illumination subsystem operable tosuccessively emit a number of sequences of spatial patterns ofillumination toward the target object, each of the sequences includingat least an initial spatial illumination pattern and at least onerefined spatial illumination pattern subsequent to the respectiveinitial spatial illumination pattern, the refined spatial illuminationpattern spatially different than the respective initial spatialillumination pattern; a sensor positioned to detect illuminationreturned from at least the target object; and a control subsystemcommunicatively coupled to the sensor and communicatively coupled to theillumination subsystem, and which determines an approximate boundary ofat least a portion of the target object based at least in part of thedetected illumination, determines the refined spatial illuminationpattern based at least in part on the determined approximate boundary,causes the illumination subsystem to emit the at least one refinedspatial illumination pattern, and determines an at least approximatevolume of the target object based at least in part on illuminationreturned from at least the target object when illuminated by the atleast one refined spatial illumination pattern.

The control subsystem may determine the refined spatial illuminationpattern based at least in part on the determined approximate boundary toreduce illumination of surfaces that are not part of the target object.The approximate boundary may include at least one edge feature in animage of an illuminated area in which the target object is located andthe control subsystem may further determine at least one area beyond theapproximate edge which contributes to distortion and determines therefined spatial illumination pattern to reduce illumination of the atleast one area which contributes to distortion. The sequences may eachinclude one initial spatial illumination pattern of modulatedillumination and at least some of the sequences may include at least tworefined spatial illumination patterns of modulated illuminationsubsequent to the respective initial spatial illumination pattern, therefined spatial illumination patterns spatially different than therespective initial spatial illumination pattern and spatially differentfrom one another. A first one of the refined spatial illuminationpatterns may have an area smaller than an illumination area of therespective initial spatial illumination pattern, and a second one of therefined spatial illumination patterns, subsequent to the first one ofthe refined spatial illumination patterns, may have an illumination areasmaller than the illumination area of the first one of the refinedspatial illumination patterns. The control subsystem may cause theillumination subsystem to apply a temporal modulation of at least one ofintensity or wavelength to the initial spatial illumination pattern andthe at least two refined spatial illumination patterns. The illuminationsubsystem may include an illumination source selectively actuatable toemit a number of two-dimensional spatial illumination patterns. Theillumination subsystem may include an illumination source actuatable toemit illumination and a filter actuatable to selectively block andselectively pass the emitted illumination as a number of two-dimensionalspatial illumination patterns. The illumination subsystem may include alaser illumination source and at least one scanning reflector operableto produce a two-dimensional scanning spatial pattern. The illuminationsubsystem may include at least one of a liquid crystal display, a liquidcrystal on silicon device or a digital micromirror device. The sensormay be a two-dimensional sensor may be positioned to detect theillumination returned from the target object without use of parallaxwith another sensor and the control subsystem performs a time-of-flightanalysis.

A method of operation in a dimensioning system to dimension a targetobject may be summarized as including emitting an initial spatialillumination pattern of modulated illumination toward the target objectby an illumination subsystem operable to successively emit a number ofsequences of spatial patterns of illumination which are modulated, eachof the sequences including at least the initial spatial illuminationpattern and at least one refined spatial illumination pattern ofmodulated illumination subsequent to the respective initial spatialillumination pattern, the at least one refined spatial illuminationpattern spatially different than the respective initial illuminationpattern; detecting by a sensor illumination returned from at least thetarget object; and determining by a control subsystem an approximateboundary of at least a portion of the target object based at least inpart on the detected illumination; determining by the control subsystemthe at least one refined spatial illumination pattern based at least inpart on the determined approximate boundary; causing the illuminationsubsystem to emit the at least one refined spatial illumination pattern;and determining by the control subsystem an at least approximatethree-dimensional volume of the target object based at least in part onillumination returned from at least the target object when illuminatedby the at least one refined spatial illumination pattern.

Determining the refined spatial illumination pattern based at least inpart on the determined approximate boundary may include determining theat least one refined spatial illumination pattern to reduce illuminationof surfaces that are not part of the target object. The approximateboundary may include at least one edge feature in an image of anilluminated area in which the target object is located, and may furtherinclude determining by the control subsystem at least one area beyondthe approximate edge which contributes to distortion and whereindetermining the at least one refined spatial illumination patternincludes determining the at least one refined spatial illuminationpattern that reduces illumination of the at least one area whichcontributes to distortion. At least some of the sequences may include atleast a first and a second refined spatial illumination patternsubsequent to the respective initial spatial illumination pattern, thefirst and the second refined spatial illumination patterns spatiallydifferent than the respective initial spatial illumination pattern anddifferent from one another, and wherein determining the at least onerefined spatial illumination pattern based at least in part on thedetermined approximate boundary may include successively determining thefirst refined spatial illumination pattern and the second refinedspatial illumination pattern, and causing the illumination subsystem toemit the at least one refined spatial illumination pattern may includecausing the illumination subsystem to successively emit the firstrefined spatial illumination pattern and the second refined spatialillumination pattern, each of the first and the second refined spatialillumination patterns being modulated to be distinguishable from anyambient light. Causing the illumination subsystem to successively emitthe first refined spatial illumination pattern may include causing theillumination subsystem to emit the first refined spatial illuminationpattern having an illumination area smaller than an illumination area ofthe respective initial spatial illumination pattern, and causing theillumination subsystem to successively emit the second refined spatialillumination pattern may include causing the illumination subsystem tosuccessively emit the second refined spatial illumination pattern havingan illumination area smaller than the illumination area of the firstrefined spatial illumination pattern. Causing the illumination subsystemto emit the at least one refined spatial illumination pattern mayinclude causing an illumination source to emit a number oftwo-dimensional illumination patterns of temporally modulatedillumination. Causing the illumination subsystem to emit the at leastone refined spatial illumination pattern may include causing anillumination source to emit illumination and a filter to selectivelyblock and selectively pass the emitted illumination as a number oftwo-dimensional illumination patterns. Causing the illuminationsubsystem to emit the at least one refined spatial illumination patternmay include causing a laser illumination source and at least onescanning reflector to produce a two dimensional scanning pattern.Causing the illumination subsystem to emit the at least one refinedspatial illumination pattern may include supplying control signals to atleast one of a liquid crystal display, a liquid crystal on silicondevice or a digital micromirror device. Determining an at leastapproximate three-dimensional volume of the target object based at leastin part on illumination returned from at least the target object whenilluminated by the at least one refined spatial illumination pattern mayinclude determining the at least approximate three-dimensional volume ofthe target object based at least in part on a time-of-flight analysis ofat least the emitted at least one refined spatial illumination patternand the illumination returned from the target object when illuminated bythe respective at least one refined spatial illumination pattern.

A time-of-flight based dimensioning system operable to dimension atarget object may be summarized as including an illumination subsystemoperable to successively emit a number of sequences of two-dimensionalpatterns of modulated illumination toward the target object, each of thesequences including at least an initial two-dimensional pattern ofmodulated illumination and at least one refined two-dimensional patternof modulated illumination subsequent to the respective initial patternof modulated illumination, the at least one refined two-dimensionalpattern of modulated illumination spatially different than therespective initial two-dimensional pattern of modulated illumination; atwo-dimensional image sensor positioned to detect illumination returnedfrom at least the target object; and a control subsystem communicativelycoupled to the image sensor to receive image information therefromrepresentative of the returned illumination, and which identifies edgefeatures in the image information that correspond to physical edges ofat least a portion of the target object, based at least in part on theidentified edge features determines the at least one refinedtwo-dimensional pattern of modulated illumination to reduce multipathreflection, causes the illumination subsystem to emit the at least onerefined two-dimensional pattern of modulated illumination, anddetermines an at least approximate three-dimensional volume of thetarget object based at least in part on illumination returned from atleast the target object when illuminated by the at least one refinedtwo-dimensional pattern of modulated illumination.

The control subsystem may further determine at least one area beyond theidentified edge features which contributes to the multipath reflectionand determines the refined two-dimensional pattern of modulatedillumination to reduce illumination of the at least one area whichcontributes to multipath reflection. The control subsystem may determineat least two refined two-dimensional patterns of modulated illuminationfor each of at least one of the sequences, the at least two refinedtwo-dimensional patterns of modulated illumination spatially differentthan the respective initial two-dimensional pattern of modulatedillumination, a first one of the refined two-dimensional patterns ofmodulated illumination having a respective illumination area smallerthan an respective illumination area of the initial two-dimensionalpattern of modulated illumination and a second one of the refinedtwo-dimensional patterns of modulated illumination having a respectiveillumination area smaller than the respective illumination area of thefirst one of the two-dimensional patterns of modulated illumination. Thecontrol subsystem may determine the at least approximatethree-dimensional volume of the target object based at least in part ona time-of-flight analysis of at least the emitted at least one refinedtwo-dimensional pattern of modulated illumination and the illuminationreturned from the target object when illuminated by the respective atleast one refined two-dimensional pattern of modulated illumination.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING(S)

In the drawings, identical reference numbers identify similar elementsor acts. The sizes and relative positions of elements in the drawingsare not necessarily drawn to scale. For example, the shapes of variouselements and angles are not drawn to scale, and some of these elementsare arbitrarily enlarged and positioned to improve drawing legibility.Further, the particular shapes of the elements as drawn, are notintended to convey any information regarding the actual shape of theparticular elements, and have been solely selected for ease ofrecognition in the drawings.

FIG. 1 is a block diagram of a volume dimensioning system, according toone illustrated embodiment.

FIG. 2 is an isometric view of a liquid crystal display (LCD) devicethat forms at least part of an illumination subsystem of a volumedimensioning system, according to one illustrated embodiment.

FIG. 3 is an isometric view of a liquid crystal on silicon (LCOS) devicethat forms at least part of an illumination subsystem of a volumedimensioning system, according to one illustrated embodiment.

FIG. 4A is an isometric view of a digital micromirror device (DMD) thatforms at least part of an illumination subsystem of a volumedimensioning system, according to one illustrated embodiment.

FIG. 4B is an isometric view of a scanning laser assembly that forms atleast part of an illumination subsystem of a volume dimensioning system,according to one illustrated embodiment.

FIG. 5 is a schematic view of a volume dimensioning system illuminatinga target object in a background environment with an initial spatialpattern of illumination as part of a first sequence of illumination,according to one illustrated embodiment.

FIG. 6 is a plan view showing an exemplary initial spatial pattern ofillumination, according to one illustrated embodiment.

FIG. 7 is screen print showing image data as sensed by the volumedimensioning system when a target object and background environment isilluminated with the initial spatial pattern of illumination, accordingto one illustrated embodiment.

FIG. 8 is a schematic view of a volume dimensioning system illuminatinga target object in a background environment with a refined spatialpattern of illumination as part of the first sequence of illumination,according to one illustrated embodiment.

FIG. 9 is a plan view showing an exemplary refined spatial pattern ofillumination, according to one illustrated embodiment.

FIG. 10 is screen print showing image data as sensed by the volumedimensioning system when a target object and background environment isilluminated with the refined spatial pattern of illumination, accordingto one illustrated embodiment.

FIG. 11 is a flow diagram showing a high level method of operation in avolume dimensioning system, according to one illustrated embodiment.

FIG. 12 is a flow diagram showing a low level method of operation in avolume dimensioning system including determining a refined spatialillumination pattern, according to one illustrated embodiment.

FIG. 13 is a flow diagram showing a low level method of operation in avolume dimensioning system including determining a refined spatialillumination pattern, according to one illustrated embodiment.

FIG. 14 is a flow diagram showing a low level method of operation in avolume dimensioning system including emitting first and second refinedspatial illumination patterns during a volume dimensioning sequence,according to one illustrated embodiment.

FIG. 15 is a flow diagram showing a low level method of operation in avolume dimensioning system including emitting illumination andselectively filtering such to produce two-dimensional illuminationpatterns of modulated illumination, according to one illustratedembodiment.

FIG. 16 is a flow diagram showing a low level method of operation in avolume dimensioning system including emitting illumination andselectively reflecting such to produce two-dimensional illuminationpatterns of modulated illumination, according to one illustratedembodiment.

FIG. 17 is a flow diagram showing a low level method of operation in avolume dimensioning system including emitting illumination andselectively reflecting such, according to one illustrated embodiment.

DETAILED DESCRIPTION OF THE INVENTION

In the following description, certain specific details are set forth inorder to provide a thorough understanding of various disclosedembodiments. However, one skilled in the relevant art will recognizethat embodiments may be practiced without one or more of these specificdetails, or with other methods, components, materials, etc. In otherinstances, well-known structures associated with volume dimensioningsystems, time-of-flight (TOF) camera systems, communications systems,and/or automatic data collection (ADC) readers have not been shown ordescribed in detail to avoid unnecessarily obscuring descriptions of theembodiments.

Unless the context requires otherwise, throughout the specification andclaims which follow, the word “comprise” and variations thereof, suchas, “comprises” and “comprising” are to be construed in an open,inclusive sense, that is as “including, but not limited to.”

Reference throughout this specification to “one embodiment” or “anembodiment” means that a particular feature, structure or characteristicdescribed in connection with the embodiment is included in at least oneembodiment. Thus, the appearances of the phrases “in one embodiment” or“in an embodiment” in various places throughout this specification arenot necessarily all referring to the same embodiment. Furthermore, theparticular features, structures, or characteristics may be combined inany suitable manner in one or more embodiments.

As used in this specification and the appended claims, the singularforms “a,” “an,” and “the” include plural referents unless the contentclearly dictates otherwise. It should also be noted that the term “or”is generally employed in its broadest sense, that is as meaning “and/or”unless the content clearly dictates otherwise.

The headings and Abstract of the Disclosure provided herein are forconvenience only and do not interpret the scope or meaning of theembodiments.

FIG. 1 shows a volume dimensioning system 100, according to oneillustrated embodiment.

The volume dimensioning system 100 includes a time-of-flight (TOF)camera subsystem 102 and control subsystem 104. The volume dimensioningsystem 100 optionally includes a user interface (UI) subsystem 106,communications subsystem 108 and/or automatic data collection (ADC)subsystem 110.

The various subsystems 102-110 may be communicatively coupled by one ormore couplers (e.g., electrically conductive paths, wires, opticalfibers), for example via one or more buses 112 (only one shown) and/orcontrol lines 114 (only two shown). The buses 112, or other couplers114, may include power buses or lines, data buses, instruction buses,address buses, etc., which allow operation of the various subsystems102-110 and interaction therebetween. The various subsystems 102-110 arediscussed in turn, below. While various individual components aregenerally easily categorizable into one or another of the subsystems,some components may be optionally implemented in one or two or more ofthe subsystems 102-110. Thus, some components may be illustrated in FIG.1 as part of two or more subsystems 102-110.

The TOF camera subsystem 102 includes an illumination subsystem 116 toprovide or emit illumination outward from the volume dimensioning system100 into an environment containing a target object (not shown in FIG. 1)and a sensor subsystem 118 to receive illumination returned (e.g.,reflected, fluoresced) from at least the target object.

The illumination subsystem 116 includes an illumination device 120. Theillumination device 120 typically takes the form of a two-dimensionalarray of individually addressable or controllable elements, but may takea variety of forms, for example the forms set out in FIGS. 2-4 anddiscussed below. The illumination subsystem 116 will typically includean illumination driver 122 which is coupled to control the individuallyaddressable or controllable elements of the illumination device 120.Alternatively, the illumination device 120 may be controlled directly bythe control subsystem 104 without the use of a dedicated illuminationdriver 122.

In particular, the illumination device 120 is controlled to produce oremit modulated light in a number of spatial or two-dimensional patterns.Illumination may take the form of a large variety of wavelengths orranges of wavelengths of electromagnetic energy. For instance,illumination may include electromagnetic energy of wavelengths in anoptical range or portion of the electromagnetic spectrum includingwavelengths in a human-visible range or portion (e.g., approximately 390nm-750 nm) and/or wavelengths in the near-infrared (NIR) (e.g.,approximately 750 nm-1400 nm) or infrared (e.g., approximately 750 nm-1mm) portions and/or the near-ultraviolet (NUV) (e.g., approximately 400nm-300 nm) or ultraviolet (e.g., approximately 400 nm-122 nm) portionsof the electromagnetic spectrum. The particular wavelengths areexemplary and not meant to be limiting. Other wavelengths ofelectromagnetic energy may be employed.

Various illumination devices 120 are discussed below, with reference toFIGS. 2, 3 4A and 4B.

The sensor subsystem 118 includes a transducer or sensor 124, typicallya two-dimensional array of photo-sensitive or photo-responsive elements,for instance a two-dimensional array of photodiodes or a two-dimensionalarray of charge coupled devices (CODs). The sensor subsystem 118 mayoptionally include a buffer 125 communicatively coupled to the sensor124 to receive image data measured, captured or otherwise sensed oracquired by the sensor 124. The buffer 125 may temporarily store imagedata until the image data is processed.

The control subsystem 104 includes one or more controllers, for exampleone or more microprocessors (one shown) 126 a, digital signal processor(DSP) 126 b, application specific integrated circuit (ASIC),programmable gate array (PGA), programmable logic controller (PLC)(collectively 126). While the DSP 126 b may be considered and/orprovided or packaged as part of the control subsystem 104, the DSP 126 bmay in some applications be may be considered and/or provided orpackaged as part of the TOF camera subsystem 102.

The control subsystem 104 includes one or more nontransitory computer-or processor-readable storage media. For example, the control subsystem104 may include nonvolatile memory, for instance read only memory (ROM)or NAND Flash memory 128. Additionally or alternatively, the controlsubsystem 104 may include volatile memory, for instance dynamic randomaccess memory (ROM) 130. The ROM, NAND Flash memory and/or RAM 128, 130may store computer- or processor executable instructions and/or data,which cause the microprocessor, DSP or other microcontroller to performvolume dimensioning, for example by executing the various acts describedherein.

The UI subsystem 106 may include one or more user interface componentswhich provide information to a user and/or allow a user to inputinformation and/or control operation of the volume dimensioning system100.

For example, the UI subsystem 106 may include a display 132 to visuallyprovide information and/or control elements to the user. The display 132may, for example, take the form of a liquid crystal display (LCD) panel.The display 132 may, for example, take the form of a touch sensitivedisplay, allowing the display of user selectable icons (e.g., virtualkeypad or keyboard, graphical user interface or GUI elements) inaddition to the display of information. The display 132 may be coupledto the control subsystem 104 via a display driver 134 or similarcomponent. The display driver 134 may control the presentation ofinformation and icons on the display 132. The display driver 134 mayadditionally process signals indicative of user inputs made via thedisplay 132.

The UI subsystem 106 may optionally include a physical keypad orkeyboard 136, which allows a user to enter data and instructions orcommands. The physical keypad or keyboard 136 may be integral to ahousing (not shown) of the volume dimensioning system 100.Alternatively, the optional physical keypad or keyboard 136 may beseparate from the housing, communicatively coupled thereto via awireless connection or wired connection for instance a Universal SerialBus (USB®) interface.

The UI subsystem 106 may optionally include a speaker 138 to provideaudible information, cues and/or alerts to a user. The UI subsystem 106may optionally include a microphone 140 to receive spoken information,instructions or commands from a user.

The communications subsystem 108 may include one or more wirelesscommunications components and/or one or more wired communicationscomponents to allow communications with devices external from the volumedimensioning system 100.

For example the communications subsystem 108 may include one or moreradios (e.g., transmitters, receivers, transceivers) 142 and associatedantenna(s) 144. The radio(s) 142 may take any of a large variety offorms using any of a large variety of communications protocols, forinstance IEEE 802.11, including WI-FI®, BLUETOOTH®, various cellularprotocols for instance CDMA, TDMA, GSM.

Also for example, the communications subsystem 108 may include one ormore communications ports 146. The communications ports 146 may take anyof a large variety of forms, for example wired communications ports forinstance ETHERNET® ports, USB® ports, FIREWIRE® ports, THUNDERBOLT®ports, etc. The communications ports 146 may even take the form ofwireless ports, for instance an infrared transceiver.

The ADC subsystem 110 may include one or more ADC readers to performautomatic data collection activities, for instance with respect to atarget object.

For example, the ADC subsystem 110 may include a radio frequencyidentification (RFID) reader or interrogator 148 and associated antenna150 to wireless read and/or write to wireless transponders (e.g., RFIDtags or transponders) (not shown). Any of a large variety of RFIDreaders or interrogators 148 may be employed, including fixed orstationary RFID readers or portable or handheld RFID readers. RFIDreader(s) 148 may be used to read information from a transponderphysically or at least proximally associated with a target object (notshown in FIG. 1). Such information may, for instance, include recipientinformation including an address and/or telephone number, senderinformation including an address and/or telephone number, specifichandling instructions (e.g., fragile, keep a give side up, temperaturerange, security information). The RFID reader 148 may also writeinformation to the transponder, for instance information indicative of atime and/or place at which the transponder was read, creating a trackingrecord.

Also for example, the ADC subsystem 110 may include a machine-readablesymbol reader 152 to wireless read machine-readable symbols (e.g.,one-dimensional or barcode symbols, two-dimensional or matrix codesymbols) (not shown). Any of a large variety of machine-readable symbolreaders 152 may be employed. For example, such may employ scanner basedmachine-readable symbol readers 152 such as those that scan a point oflight (e.g., laser) across a symbol and detector light returned from thesymbol, and decoding information encoded in the symbol. Also forexample, such may employ imager based machine-readable symbol readers152 such as those that employ flood illumination (e.g., LEDs) of asymbol, detect or capture an image of the symbol, and decode informationencoded in the symbol. The machine-readable symbol reader(s) 152 mayinclude fixed or stationary machine-readable symbol readers or portableor handheld machine-readable symbol readers. machine-readable symbolreader(s) 152 may be used to read information from a machine-readablesymbol physically or at least proximally associated with a targetobject. Such information may, for instance, include recipientinformation including an address and/or telephone number, senderinformation including an address and/or telephone number, specifichandling instructions (e.g., fragile, keep a give side up, temperaturerange, security information).

While not illustrated, the volume dimensioning system 100 may include aself contained, discrete source of power, for example one or morechemical battery cells, ultracapacitor cells and/or fuel cells. Whilealso not illustrated, the volume dimensioning system 100 may include arecharging circuit, for example to recharge secondary chemical batterycells. Alternatively or additionally, the volume dimensioning system 100may be wired to an external power source, such as mains, residential orcommercial power.

FIG. 2 shows a liquid crystal display (LCD) device 200 that may be usedas the illumination device 120 of the illumination subsystem 116 of thevolume dimensioning system 100, according to one illustrated embodiment.

The LCD device 200 may take any of a large variety of forms, anexemplary one of which is illustrated in FIG. 2. The illustrated LCDdevice 200 may include a florescent panel 202 as a light source (e.g.,LED(s), florescent, incandescent), first polarizing filter 204, set ofliquid crystal cells 206, color filters 208, second polarizing filter210, and front panel (e.g., glass) 212. Illumination travels from theflorescent panel 202 toward, and out from the front panel 212, generallyas illustrated by arrows 214. The LCD device 200 may produce or emitspatial or two-dimensional patterns of illumination which illuminationis modulated to be distinguishable, for instance from ambient light.

FIG. 3 shows a liquid crystal on silicon (LCoS) device 300 that may beused as the illumination device 120 of the illumination subsystem 116 ofthe volume dimensioning system 100, according to one illustratedembodiment.

The LCoS device 300 may take any of a large variety of forms, anexemplary one of which is illustrated in FIG. 3. The illustrated LCoSdevice 300 may include drive circuitry (e.g., CMOS) 302, reflectivecoating 304, liquid crystal cells 306, alignment layer 308, transportelectrodes 310, cover glass 312, polarizers 314 a, 314 b (collectively314), and light source(s) 316. Illumination 318 travels from the lightsource 316 toward the reflective coating 304, and is then returned orreflected back outward as illumination 320 by the reflective coating304. The LCoS device 300 may produce or emit spatial or two-dimensionalpatterns of illumination which illumination is modulated to bedistinguishable, for instance from ambient light.

FIG. 4A shows a digital micromirror device (DMD) 400 that may be used asthe illumination device 120 of the illumination subsystem 116 of thevolume dimensioning system 100, according to one illustrated embodiment.

The DMD 400 may take any of a large variety of forms, an exemplary oneof which is illustrated in FIG. 4. The illustrated DMD 400 may include alight source 402 (e.g., LED(s), florescent, incandescent) and an arrayof micromirror 404 a-404 n (collectively 404) positioned to and operableto selectively reflect illumination from the light source 402. The arrayof micromirror 404 may, for example, include one hundred thousandaluminum micromirror, each with a diameter or approximately 16 μm. Eachmicromirror 404 a-404 n is supported by a respective pedestal (notshown) from a respective yoke (not shown) with a torsion spring (notshown), that allow the micromirror 404 a-404 n to rotate some definedamount in a positive and a negative direction about an axis, whichcorresponds to ON and OFF states. The DMD 400 includes drive circuitry(not shown) such as SRAM, that generates electrostatic charges viaelectrodes to attract and/or repulse portions of the yoke and/ormicromirror 404, causing pivoting. Illumination travels from the lightsource 402 and is reflected back outwards by the micromirror 404dependent on the specific orientation of each respective micromirror 404at any given time. The DMD 400 may produce or emit spatial ortwo-dimensional patterns of illumination which illumination is modulatedto be distinguishable, for instance from ambient light.

FIG. 4B shows a scanning laser assembly 450 that may be used as theillumination device 120 of the illumination subsystem 116 of the volumedimensioning system 100, according to one illustrated embodiment.

The scanning laser assembly 450 includes a laser source 452, for examplea laser diode that produces a coherent beam of light 454. The scanninglaser assembly 450 includes one or more reflectors. For example, thescanning laser assembly 450 may include a rotating polygonal mirror 456driven by an actuator such as an electric motor 458, to rotate about anaxis 460 as indicated by single headed arrow 462. Also for example, thescanning laser assembly 450 may include and an oscillating mirror ordichroic reflector 464 driven by an actuator, such as an electric motor466 to pivot about an axis 468 as indicated by double headed arrow 470.The reflector(s) 456, 464 cause the laser light to scan atwo-dimensional pattern, for example a raster scan pattern 472. A limitof travel in a vertical and horizontal direction is controlled to adjustor refine one or more dimensions of the illumination. The scanning laserassembly 450 may produce or emit spatial or two-dimensional patterns ofillumination which illumination is modulated to be distinguishable, forinstance from ambient light.

While a number of exemplary illumination subsystems have beenillustrated and described, the volume dimensioning system 100 may employother illumination subsystems capable of producing spatiallyconfigurable two-dimensional or spatial patterns of modulatedillumination.

FIG. 5 shows a volume dimensioning system 100 illuminating a targetobject 500 with an initial spatial pattern of modulated illumination 600(FIG. 6) in a background environment 502 which includes a number ofreflecting surfaces 504 a, 504 b, according to one illustratedembodiment.

As illustrated by rays 506 a, 506 b, the volume dimensioning system 100produces or emits the initial spatial pattern of modulated illumination600 (FIG. 6) with at least one dimension 602 a, 602 b, 602 c, 602 d(collectively 602) that is relatively wide with respect to the size of acorresponding dimension 500 a of the target object 500.

A similar overly wide illumination affect may occur in the depthdimension (into the drawing sheet) of FIG. 5 as well. Some of theillumination, represented by double headed ray 508 travels directly fromthe volume dimensioning system 100 to the target object 500, and isreturned directly to the volume dimensioning system 100 from the targetobject 500. The distance traveled by this illumination 508 isapproximately twice the distance between the volume dimensioning system100 and the target object 500 and would typically allow the volumedimensioning system 100 to produce highly accurate depth dimensiontherefrom.

However, some of the illumination, represented by rays 510 a, 510 b(collectively 510), travels indirectly from the volume dimensioningsystem 100 to the target object 500. A first one of the rays 510 ailluminates one of the surfaces 504 a in the background environment 502,before being reflected or returned by the surface 504 a to the targetobject as a second one of the rays 510 b. The illumination is thenreflected or returned from the target object 500 to the volumedimensioning system 100, for example via the same path as ray 508.

While illustrated as what may appear to be walls and a floor, thesesurfaces can take any of a large variety of forms, including otherobjects such as parcels or packages, or machines, counters, etc. in thebackground environment 502. The distance traveled via the indirect pathis more than twice the distance between the volume dimensioning system100 and the target object. Thus, the received illumination returned viathe indirect path results in a phase mismatch, and creates distortion inthe image data 700 (FIG. 7). Such is illustrated in FIG. 7 where aboundary or edge feature in an image 700 of the target object 500 isidentified by reference number 702 and the distortion by referencenumber 704.

With respect to FIG. 6, the two-dimensional initial pattern of modulatedillumination 600 illustrated therein is exemplary to provide context forthis description. The initial spatial pattern of modulated illumination600 can have a perimeter 604. The perimeter 604 may, for example have asquare shape, or have any of a large variety of other shapes, includingother polygonal shapes (e.g., hexagonal, octagonal, rhombus, U-shaped)or non-polygonal shapes (circular, oval). The spatial pattern ofmodulated illumination 600 should not be limited to any particulargeometrical shape. Almost any shape can be obtained by controllingindividual addressable or controllable light sources or emitters,mirrors (i.e., any reflector), liquid crystal elements and/or filterelements. A center 606 of the initial spatial pattern of modulatedillumination 600 is identified for use in comparison with FIG. 9, and toshow that one or more dimensions may change or be refined with respectto the center 606.

FIG. 8 shows a volume dimensioning system 100 illuminating the targetobject 500 with a refined spatial pattern of modulated illumination 900(FIG. 9) in the background environment 502 which includes the reflectingsurfaces 504 a, 504 b, according to one illustrated embodiment.

As illustrated by rays 806 a, 806 b, the volume dimensioning system 100produces or emits a refined spatial pattern of modulated illumination900 (FIG. 9) with at least one dimension 902 a, 902 b, 902 c, 902 d(collectively 902) that is adjusted or refined to reduce an amount ofillumination returned by surfaces 504 a, 504 b other than the targetobject 500. As described in detail below, the adjustment or refinementmay be based at least in part on the image 700 resulting from previousillumination, for example a previous illumination with the initialspatial pattern of modulated illumination 600 (FIG. 6).

A similar adjustment or refinement may be made in the depth dimension(into drawing sheet) of FIG. 8 as well. Most, if not all, of theillumination, represented by double headed ray 808 travels directly fromthe volume dimensioning system 100 to the target object 500, and isreturned directly to the volume dimensioning system 100 from the targetobject 500. The distance traveled by this illumination 808 isapproximately twice the distance between the volume dimensioning system100 and the target object and would typically allow the volumedimensioning system 100 to produce highly accurate depth dimensiontherefrom. Elimination or reduction of illumination of surfaces 504 a,504 b other than the target object 500, and particularly surfaces 504 athat cause a relatively high level of distortion in the image data 1000(FIG. 10) can result in more accurate volume dimensioning. Such isillustrated in FIG. 10 where a boundary or edge feature in an image 1000of the target object 500 is identified by reference number 1002 and thedistortion by reference number 1004. Comparison of FIG. 10 with FIG. 7demonstrates the significant reduction in distortion and the resultingincrease in clarity of the boundary or edge features of the targetobject 500 in the image 1000 of the target object 500.

With respect to FIG. 9, the two-dimensional refined pattern of modulatedillumination 900 illustrated therein is exemplary to provide context forthis description. The refined spatial pattern of modulated illumination900 can have a perimeter 804. The perimeter 904 may, for example have asquare or rectangular shape, or have any of a large variety of othershapes, including other polygonal shapes (e.g., hexagonal, octagonal,rhombus, U-shaped) or non-polygonal shapes (circular, oval). The spatialpattern of modulated illumination 900 should not be limited to anyparticular geometrical shape. Almost any shape can be obtained bycontrolling individual addressable or controllable light sources oremitters, mirrors (i.e., any reflector), liquid crystal elements and/orfilter elements. A center 906 of the refined spatial pattern ofmodulated illumination 900 is identified for use in comparison with FIG.6, and to show that one or more dimensions may change or be refined withrespect to the center 906. Where the center 606 and the center 906 arematched, it is notable that three dimensions have changed. Notable afirst dimension 602 a, 902 a is reduced by a first amount, a seconddimension 602 c, 902 c is reduced by a second amount, and a thirddimension 602 d, 902 d is reduced by the second amount as well. Thisreduction in certain dimensions may advantageously reduce theillumination of extraneous surfaces that contribute to distortion ornoise.

FIG. 11 shows a high level method 1100 of operation of a volumedimensioning system, according to one illustrated embodiment.

At 1102, an illumination subsystem emits an initial spatial illuminationpattern of illumination in a sequence of illumination which will includean initial spatial illumination pattern and typically at least onerefined spatial illumination pattern. The illumination is emittedoutward of the volume dimensioning system, which when oriented toward atarget object will illuminate at least part of the target object. Theillumination is preferably modulated to be distinguishable from anyambient light. The modulation may take the form of a variation inintensity and/or wavelength, or some other form of modulation. Theillumination may be temporally modulated to essentially encode arecoverable and recognizable signal or pattern (e.g., time varyingchange of an optical characteristic) in the illumination which isdiscernible in detected illumination returned from the target object. Asdescribed above, a large variety of illumination components may beemployed to produce the illumination.

At 1104, a sensor of a sensor subassembly detects illumination returnedfrom at least the target object. As described above, the sensor istypically a two-dimensional sensor array. The use of flight-of-timetechniques allow recovery of three-dimensional data, including depthwith respect to the field of view of the sensor (e.g., normal to thefield of view). Such is advantageously achievable without requiringmultiple sensors and without employing parallax.

At 1106, a processor of a control subsystem or other processordetermines an at least approximate boundary of at least a portion of thetarget object. The processor may determine such based at least in parton detected illumination. The processor may employ various imageprocessing techniques, for example various edge detection filters (e.g.,Sobel).

At 1108, the processor of a control subsystem or other processordetermines a first refined spatial illumination pattern based at leastin part on the determined approximate boundary spatially different thaninitial spatial illumination pattern.

At 1110, the illumination subsystem emits at least the first refinedspatial illumination pattern in a sequence of illumination. Again, theillumination is emitted outward of the volume dimensioning system.Again, the illumination is modulated to be distinguishable from anyambient light.

At 1112, the processor of a control subsystem or other processordetermines an approximate boundary of at least a portion of the targetobject based at least in part of the detected illumination. In thiscase, the image data being analyzed is the result of the first refinedspatial illumination pattern, hence may have significantly lessdistortion and thus produce more accurate or more refined results.

At 1114, the processor of a control subsystem or other processordetermines whether additional refinements or adjustments to the spatialillumination patterns will be performed. For example, the processor maybe programmed to perform a defined or set number of refinements oradjustments per sequence. Alternatively, the processor may determinewhether additional refinements or adjustments are warranted in-realtime, for instance based on an analysis of recent image data. Forexample, the processor may perform various image processing techniquesto quantify an amount or percentage of distortion that appears in theimage data and/or to quantify a clarity or preciseness of boundary oredge features detected in the image. The processor may compare such tosome defined threshold. Where the boundary or edges are determined to beinsufficiently clear or where too much distortion appears in the image,control may pass to 1116. Where the boundary or edges are determined tobe sufficiently clear or where distortion in the image appears to beacceptable, control passes directly to 1120.

If further refinement or adjustment is deemed desirable, optionally at1116, the processor of a control subsystem or other processor determinesa second refined spatial illumination pattern based at least in part ondetermined approximate boundary. The second refined spatial illuminationpattern will likely be spatially different than first refined spatialillumination pattern.

Optionally at 1118, the illumination subsystem emits the second refinedspatial illumination pattern. Again, the illumination is emitted outwardof the volume dimensioning system. Again, the illumination is preferablymodulated to be distinguishable from any ambient light.

At 1120, a processor of a control subsystem or other processordetermines at least approximate three-dimensional volume of targetobject based at least in part on illumination returned (e.g.,three-dimensional image information including two-dimensional image anddepth information) from at least target object when illuminated by atleast one refined spatial illumination pattern. In some applications orimplementations the processor may determine the three-dimensional volumebased on a single sample, i.e., illumination returned from illuminationby a single refined spatial illumination pattern, for example a lastrefined spatial illumination pattern in a sequence. In otherapplications or implementations, the processor may determine thethree-dimensional volume based on two or more samples, e.g.,illumination returned from illumination be two or more respectiverefined spatial illumination patterns. In yet other applications orimplementations, the processor may additionally or alternatively employa sample based on the initial spatial illumination pattern.

As set out above, volume dimensioning for any given target objectincludes a sequence of one or more illuminations and respectivedetections of returned illumination. In most instances, a sequenceincludes illumination with at least one initial spatial illuminationpattern and with one or more refined spatial illumination patterns. Thenumber of refined spatial illumination patterns in a sequence may befixed or set, or may vary, for instance based on the results of priorillumination(s) in the sequence. In some instances, illumination withthe initial spatial illumination pattern may produce sufficientlyacceptable results, and hence the sequence may omit illumination withany refined spatial illumination patterns. Thus, the method 1100 mayinclude an additional determination, occurring between determination ofthe approximate boundary at 1106 and determination of the first refinedspatial illumination pattern at 1108. This additional determination mayassess the quality of the image data, avoiding illumination usingrefined spatial illumination patterns in those instances whereillumination with the initial spatial illumination pattern producedacceptable results.

FIG. 12 shows a low level method 1200 of operation of a volumedimensioning system including determining a refined spatial illuminationpattern, according to one illustrated embodiment. The method 1200 may beemployed as part of performing the method 1100 (FIG. 11).

At 1202, a processor of a control subsystem or other processordetermines one or more refined spatial illumination pattern(s) to reduceillumination of surfaces that are not part of target object. Theprocessor determines such based on image information returned from aprevious illumination, for example a previous illumination with aninitial spatial illumination pattern, or a previous illumination with aprior refined spatial illumination pattern. The processor determines arefinement or adjustment that is intended to reduce distortion, allowfeatures of the target object to be more clearly discerned in the imagedata as represented by the image data, to increase the accuracy ofvolume estimation. The processor may determine that distortion isassociated with illumination in a particular direction or area, andrefine or adjust the spatial illumination pattern so as to reduce thedistortion in the returned illumination.

FIG. 13 shows a low level method 1300 of operation of a volumedimensioning system including determining a refined spatial illuminationpattern, according to one illustrated embodiment. The method 1300 may beemployed as part of performing the method 1100 (FIG. 11).

At 1302, a processor of a control subsystem or other processordetermines one or more areas in an image which are beyond an approximateboundary or edge feature corresponding to the target object in theimage, which areas contribute to distortion.

At 1304, the processor determines one or more refined spatialillumination pattern(s) that reduces illumination of to the areas in theenvironment which contribute to the distortion in the image data.

FIG. 14 shows a low level method 1400 of operation of a volumedimensioning system emitting first and second refined spatialillumination patterns during a volume dimensioning sequence, accordingto one illustrated embodiment. The method 1400 may be employed as partof performing the method 1100 (FIG. 11).

At 1402, the illumination subsystem emits a first refined spatialillumination pattern having an illumination area smaller than anillumination area of a respective initial spatial illumination pattern.This may advantageously reduce the return (e.g., reflection) ofillumination from surfaces other than the target object.

At 1404, the illumination subsystem emits a second refined spatialillumination pattern having an illumination area smaller thanillumination area of the first refined spatial illumination pattern.This may advantageously further reduce the return (e.g., reflection) ofillumination from surfaces other than the target object. As is evidentfrom this description, the volume dimensioning system may make anynumber of refinements or adjustments to achieve the desired reduction indistortion and/or increase in accuracy.

FIG. 15 shows a low level method 1500 of operation of a volumedimensioning system including emitting illumination and selectivelyfiltering such to produce two-dimensional illumination patterns ofmodulated illumination, according to one illustrated embodiment. Themethod 1500 may be employed as part of performing the method 1100 (FIG.11).

At 1502, a source of illumination such as a light source (e.g., LCD,LCoS) of the illumination subsystem emits two-dimensional illuminationpatterns of illumination, which preferably is modulated.

At 1504, a filter component (e.g., color filters, liquid crystal cells)selectively blocks and selectively passes the emitted illumination as anumber of two-dimensional illumination patterns. Such may beaccomplished via an LCD panel or device or an LCoS device.

FIG. 16 shows a low level method 1600 of operation of a volumedimensioning system including emitting illumination and selectivelyreflecting such to produce two-dimensional illumination patterns ofmodulated illumination, according to one illustrated embodiment. Themethod 1600 may be employed as part of performing the method 1100 (FIG.11).

At 1602, a source of illumination such as a light source (e.g., LED(s),florescent, incandescent) of the illumination subsystem emitsillumination.

At 1604, a reflective component (e.g., reflector, mirror, dichroicreflector) selectively reflects the emitted illumination as a number oftwo-dimensional illumination patterns. Such may be accomplished via anDMD.

FIG. 17 shows a low level method 1700 of operation of a volumedimensioning system including emitting illumination and selectivelyreflecting such, according to one illustrated embodiment. The method1700 may be employed as part of performing the method 1100 (FIG. 11).

At 1702, a laser source emits laser illumination.

At 1704, one or more reflectors or mirrors move to reflect the laserillumination to produce a two-dimensional scanning pattern of laserlight. The limits of travel of the reflectors or mirrors may be adjustedto control one or more dimensions of the resulting illumination pattern.

The above description of illustrated embodiments, including what isdescribed in the Abstract, is not intended to be exhaustive or to limitthe embodiments to the precise forms disclosed. Although specificembodiments of and examples are described herein for illustrativepurposes, various equivalent modifications can be made without departingfrom the spirit and scope of the disclosure, as will be recognized bythose skilled in the relevant art. The teachings provided herein of thevarious embodiments can be applied to other automated systems, notnecessarily the exemplary volume dimensioning system generally describedabove.

For instance, the foregoing detailed description has set forth variousembodiments of the devices and/or processes via the use of blockdiagrams, schematics, and examples. Insofar as such block diagrams,schematics, and examples contain one or more functions and/oroperations, it will be understood by those skilled in the art that eachfunction and/or operation within such block diagrams, flowcharts, orexamples can be implemented, individually and/or collectively, by a widerange of hardware, software, firmware, or virtually any combinationthereof. In one embodiment, the present subject matter may beimplemented via Application Specific Integrated Circuits (ASICs).However, those skilled in the art will recognize that the embodimentsdisclosed herein, in whole or in part, can be equivalently implementedin standard integrated circuits, as one or more computer programsexecuted by one or more computers (e.g., as one or more programs runningon one or more computer systems), as one or more programs executed by onone or more controllers (e.g., microcontrollers) as one or more programsexecuted by one or more processors (e.g., microprocessors), as firmware,or as virtually any combination thereof, and that designing thecircuitry and/or writing the code for the software and or firmware wouldbe well within the skill of one of ordinary skill in the art in light ofthe teachings of this disclosure.

When logic is implemented as software and stored in memory, logic orinformation can be stored on any computer-readable medium for use by orin connection with any processor-related system or method. In thecontext of this disclosure, a memory is a computer-readable medium thatis an electronic, magnetic, optical, or other physical device or meansthat contains or stores a computer and/or processor program. Logicand/or the information can be embodied in any computer-readable mediumfor use by or in connection with an instruction execution system,apparatus, or device, such as a computer-based system,processor-containing system, or other system that can fetch theinstructions from the instruction execution system, apparatus, or deviceand execute the instructions associated with logic and/or information.

In the context of this specification, a “computer-readable medium” canbe any element that can store the program associated with logic and/orinformation for use by or in connection with the instruction executionsystem, apparatus, and/or device. The computer-readable medium can be,for example, but is not limited to, an electronic, magnetic, optical,electromagnetic, infrared, or semiconductor system, apparatus or device.More specific examples (a non-exhaustive list) of the computer readablemedium would include the following: a portable computer diskette(magnetic, compact flash card, secure digital, or the like), a randomaccess memory (RAM), a read-only memory (ROM), an erasable programmableread-only memory (EPROM, EEPROM, or Flash memory), a portable compactdisc read-only memory (CDROM), digital tape, and other nontransitorymedia.

Many of the methods described herein can be performed with one or morevariations. For example, many of the methods may include additionalacts, omit some acts, and/or perform or execute acts in a differentorder than as illustrated or described.

The various embodiments described above can be combined to providefurther embodiments. To the extent that they are not inconsistent withthe specific teachings and definitions herein, all of the U.S. patents,U.S. patent application publications, U.S. patent applications, foreignpatents, foreign patent applications and non-patent publicationsreferred to in this specification and/or listed in the Application DataSheet, including but not limited to U.S. patent application publicationNo. 2010/0220894; U.S. patent application Ser. No. 13/464,799 filed May4, 2012 and U.S. patent application Ser. No. 13/465,968 filed May 7,2012 are incorporated herein by reference, in their entirety. Aspects ofthe embodiments can be modified, if necessary, to employ systems,circuits and concepts of the various patents, applications andpublications to provide yet further embodiments.

These and other changes can be made to the embodiments in light of theabove-detailed description. In general, in the following claims, theterms used should not be construed to limit the claims to the specificembodiments disclosed in the specification and the claims, but should beconstrued to include all possible embodiments along with the full scopeof equivalents to which such claims are entitled. Accordingly, theclaims are not limited by the disclosure.

1. A dimensioning system operable to dimension a target object,comprising an illumination subsystem operable to successively emit anumber of sequences of spatial patterns of illumination toward thetarget object, each of the sequences including at least an initialspatial illumination pattern and at least one refined spatialillumination pattern subsequent to the respective initial spatialillumination pattern, the refined spatial illumination pattern spatiallydifferent than the respective initial spatial illumination pattern; asensor positioned to detect illumination returned from at least thetarget object; and a control subsystem communicatively coupled to thesensor and communicatively coupled to the illumination subsystem, andwhich determines an approximate boundary of at least a portion of thetarget object based at least in part of the detected illumination,determines the refined spatial illumination pattern based at least inpart on the determined approximate boundary, causes the illuminationsubsystem to emit the at least one refined spatial illumination pattern,and determines an at least approximate volume of the target object basedat least in part on illumination returned from at least the targetobject when illuminated by the at least one refined spatial illuminationpattern.
 2. The dimensioning system of claim 1 wherein the controlsubsystem determines the refined spatial illumination pattern based atleast in part on the determined approximate boundary to reduceillumination of surfaces that are not part of the target object.
 3. Thedimensioning system of claim 1 wherein the approximate boundary includesat least one edge feature in an image of an illuminated area in whichthe target object is located and the control subsystem furtherdetermines at least one area beyond the approximate edge whichcontributes to distortion and determines the refined spatialillumination pattern to reduce illumination of the at least one areawhich contributes to distortion.
 4. The dimensioning system of claim 1wherein the sequences each include one initial spatial illuminationpattern of modulated illumination and at least some of the sequencesinclude at least two refined spatial illumination patterns of modulatedillumination subsequent to the respective initial spatial illuminationpattern, the refined spatial illumination patterns spatially differentthan the respective initial spatial illumination pattern and spatiallydifferent from one another.
 5. The dimensioning system of claim 4wherein a first one of the refined spatial illumination patterns has anarea smaller than an illumination area of the respective initial spatialillumination pattern, and a second one of the refined spatialillumination patterns, subsequent to the first one of the refinedspatial illumination patterns, has an illumination area smaller than theillumination area of the first one of the refined spatial illuminationpatterns.
 6. The dimensioning system of claim 4 wherein the controlsubsystem causes the illumination subsystem to apply a temporalmodulation of at least one of intensity or wavelength to the initialspatial illumination pattern and the at least two refined spatialillumination patterns.
 7. The dimensioning system of claim 1 wherein theillumination subsystem includes an illumination source selectivelyactuatable to emit a number of two-dimensional spatial illuminationpatterns.
 8. The dimensioning system of claim 1 wherein the illuminationsubsystem includes an illumination source actuatable to emitillumination and a filter actuatable to selectively block andselectively pass the emitted illumination as a number of two-dimensionalspatial illumination patterns.
 9. The dimensioning system of claim 1wherein the illumination subsystem includes a laser illumination sourceand at least one scanning reflector operable to produce atwo-dimensional scanning spatial pattern.
 10. The dimensioning system ofclaim 1 wherein the illumination subsystem includes at least one of aliquid crystal display, a liquid crystal on silicon device or a digitalmicromirror device.
 11. The dimensioning system of claim 1 wherein thesensor is a two-dimensional sensor is positioned to detect theillumination returned from the target object without use of parallaxwith another sensor and the control subsystem performs a time-of-flightanalysis.
 12. A method of operation in a dimensioning system todimension a target object, the method comprising emitting an initialspatial illumination pattern of modulated illumination toward the targetobject by an illumination subsystem operable to successively emit anumber of sequences of spatial patterns of illumination which aremodulated, each of the sequences including at least the initial spatialillumination pattern and at least one refined spatial illuminationpattern of modulated illumination subsequent to the respective initialspatial illumination pattern, the at least one refined spatialillumination pattern spatially different than the respective initialillumination pattern; detecting by a sensor illumination returned fromat least the target object; and determining by a control subsystem anapproximate boundary of at least a portion of the target object based atleast in part on the detected illumination; determining by the controlsubsystem the at least one refined spatial illumination pattern based atleast in part on the determined approximate boundary; causing theillumination subsystem to emit the at least one refined spatialillumination pattern; and determining by the control subsystem an atleast approximate three-dimensional volume of the target object based atleast in part on illumination returned from at least the target objectwhen illuminated by the at least one refined spatial illuminationpattern.
 13. The method of claim 12 wherein determining the refinedspatial illumination pattern based at least in part on the determinedapproximate boundary includes determining the at least one refinedspatial illumination pattern to reduce illumination of surfaces that arenot part of the target object.
 14. The method of claim 12 wherein theapproximate boundary includes at least one edge feature in an image ofan illuminated area in which the target object is located, and furthercomprising determining by the control subsystem at least one area beyondthe approximate edge which contributes to distortion and whereindetermining the at least one refined spatial illumination patternincludes determining the at least one refined spatial illuminationpattern that reduces illumination of the at least one area whichcontributes to distortion.
 15. The method of claim 12 wherein at leastsome of the sequences include at least a first and a second refinedspatial illumination pattern subsequent to the respective initialspatial illumination pattern, the first and the second refined spatialillumination patterns spatially different than the respective initialspatial illumination pattern and different from one another, and whereindetermining the at least one refined spatial illumination pattern basedat least in part on the determined approximate boundary includessuccessively determining the first refined spatial illumination patternand the second refined spatial illumination pattern, and causing theillumination subsystem to emit the at least one refined spatialillumination pattern includes causing the illumination subsystem tosuccessively emit the first refined spatial illumination pattern and thesecond refined spatial illumination pattern, each of the first and thesecond refined spatial illumination patterns being modulated to bedistinguishable from any ambient light.
 16. The method of claim 15wherein causing the illumination subsystem to successively emit thefirst refined spatial illumination pattern includes causing theillumination subsystem to emit the first refined spatial illuminationpattern having an illumination area smaller than an illumination area ofthe respective initial spatial illumination pattern, and causing theillumination subsystem to successively emit the second refined spatialillumination pattern includes causing the illumination subsystem tosuccessively emit the second refined spatial illumination pattern havingan illumination area smaller than the illumination area of the firstrefined spatial illumination pattern.
 17. The method of claim 12 whereincausing the illumination subsystem to emit the at least one refinedspatial illumination pattern includes causing an illumination source toemit a number of two-dimensional illumination patterns of temporallymodulated illumination.
 18. The method of claim 12 wherein causing theillumination subsystem to emit the at least one refined spatialillumination pattern includes causing an illumination source to emitillumination and a filter to selectively block and selectively pass theemitted illumination as a number of two-dimensional illuminationpatterns.
 19. The method of claim 12 wherein causing the illuminationsubsystem to emit the at least one refined spatial illumination patternincludes causing a laser illumination source and at least one scanningreflector to produce a two dimensional scanning pattern.
 20. The methodof claim 12 wherein causing the illumination subsystem to emit the atleast one refined spatial illumination pattern includes supplyingcontrol signals to at least one of a liquid crystal display, a liquidcrystal on silicon device or a digital micromirror device.
 21. Themethod of claim 12 wherein determining an at least approximatethree-dimensional volume of the target object based at least in part onillumination returned from at least the target object when illuminatedby the at least one refined spatial illumination pattern includesdetermining the at least approximate three-dimensional volume of thetarget object based at least in part on a time-of-flight analysis of atleast the emitted at least one refined spatial illumination pattern andthe illumination returned from the target object when illuminated by therespective at least one refined spatial illumination pattern.
 22. Atime-of-flight based dimensioning system operable to dimension a targetobject, comprising an illumination subsystem operable to successivelyemit a number of sequences of two-dimensional patterns of modulatedillumination toward the target object, each of the sequences includingat least an initial two-dimensional pattern of modulated illuminationand at least one refined two-dimensional pattern of modulatedillumination subsequent to the respective initial pattern of modulatedillumination, the at least one refined two-dimensional pattern ofmodulated illumination spatially different than the respective initialtwo-dimensional pattern of modulated illumination; a two-dimensionalimage sensor positioned to detect illumination returned from at leastthe target object; and a control subsystem communicatively coupled tothe image sensor to receive image information therefrom representativeof the returned illumination, and which identifies edge features in theimage information that correspond to physical edges of at least aportion of the target object, based at least in part on the identifiededge features determines the at least one refined two-dimensionalpattern of modulated illumination to reduce multipath reflection, causesthe illumination subsystem to emit the at least one refinedtwo-dimensional pattern of modulated illumination, and determines an atleast approximate three-dimensional volume of the target object based atleast in part on illumination returned from at least the target objectwhen illuminated by the at least one refined two-dimensional pattern ofmodulated illumination.
 23. The dimensioning system of claim 22 whereinthe control subsystem further determines at least one area beyond theidentified edge features which contributes to the multipath reflectionand determines the refined two-dimensional pattern of modulatedillumination to reduce illumination of the at least one area whichcontributes to multipath reflection.
 24. The dimensioning system ofclaim 22 wherein the control subsystem determines at least two refinedtwo-dimensional patterns of modulated illumination for each of at leastone of the sequences, the at least two refined two-dimensional patternsof modulated illumination spatially different than the respectiveinitial two-dimensional pattern of modulated illumination, a first oneof the refined two-dimensional patterns of modulated illumination havinga respective illumination area smaller than an respective illuminationarea of the initial two-dimensional pattern of modulated illuminationand a second one of the refined two-dimensional patterns of modulatedillumination having a respective illumination area smaller than therespective illumination area of the first one of the two-dimensionalpatterns of modulated illumination.
 25. The dimensioning system of claim22 wherein the control subsystem determines the at least approximatethree-dimensional volume of the target object based at least in part ona time-of-flight analysis of at least the emitted at least one refinedtwo-dimensional pattern of modulated illumination and the illuminationreturned from the target object when illuminated by the respective atleast one refined two-dimensional pattern of modulated illumination.